Update Files
This commit is contained in:
@ -0,0 +1,60 @@
|
||||
/*! \file btGImpactMassUtil.h
|
||||
\author Francisco Leon Najera
|
||||
*/
|
||||
/*
|
||||
This source file is part of GIMPACT Library.
|
||||
|
||||
For the latest info, see http://gimpact.sourceforge.net/
|
||||
|
||||
Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
|
||||
email: projectileman@yahoo.com
|
||||
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef GIMPACT_MASS_UTIL_H
|
||||
#define GIMPACT_MASS_UTIL_H
|
||||
|
||||
#include "LinearMath/btTransform.h"
|
||||
|
||||
|
||||
|
||||
SIMD_FORCE_INLINE btVector3 gim_inertia_add_transformed(
|
||||
const btVector3 & source_inertia, const btVector3 & added_inertia, const btTransform & transform)
|
||||
{
|
||||
btMatrix3x3 rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose();
|
||||
|
||||
btScalar x2 = transform.getOrigin()[0];
|
||||
x2*= x2;
|
||||
btScalar y2 = transform.getOrigin()[1];
|
||||
y2*= y2;
|
||||
btScalar z2 = transform.getOrigin()[2];
|
||||
z2*= z2;
|
||||
|
||||
btScalar ix = rotatedTensor[0][0]*(y2+z2);
|
||||
btScalar iy = rotatedTensor[1][1]*(x2+z2);
|
||||
btScalar iz = rotatedTensor[2][2]*(x2+y2);
|
||||
|
||||
return btVector3(source_inertia[0]+ix,source_inertia[1]+iy,source_inertia[2] + iz);
|
||||
}
|
||||
|
||||
SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3 & point, btScalar mass)
|
||||
{
|
||||
btScalar x2 = point[0]*point[0];
|
||||
btScalar y2 = point[1]*point[1];
|
||||
btScalar z2 = point[2]*point[2];
|
||||
return btVector3(mass*(y2+z2),mass*(x2+z2),mass*(x2+y2));
|
||||
}
|
||||
|
||||
|
||||
#endif //GIMPACT_MESH_SHAPE_H
|
Reference in New Issue
Block a user